www.gusucode.com > robotics 案例源码程序 matlab代码 > robotics/ComputeTheGeometricJacobianForARobotConfigurationExample.m
%% Geometric Jacobian for Robot Configuration % Calculate the geometric Jacobian for a specific % end effector and configuration of a robot. %% % Load example robots as |RigidBodyTree| objects. load exampleRobots.mat %% % Calculate the geometric Jacobian of body |'L6'| on the Puma robot for a % random configuration. geoJacob = geometricJacobian(puma1,randomConfiguration(puma1),'L6')